| 摘要 |
PROBLEM TO BE SOLVED: To solve the problem where no complete follow-up is secured between a command and load about the flexible structures of >=2 inertial systems which are connected together via the spring elements and also the extensive computational complexity is required owing to the complicated calculation. SOLUTION: In this servo control method using the feed forward, the positions of load and a motor are shown in each function that can undergo the higher-order differentiation and this function is decided from an operating condition 4 and a mechanical parameter 5. Otherwise, the position, speed and torque command of the motor are calculated from the decided function and defined as the feed forward commands. Then the torque command of the motor is calculated from the decided function and inputted to a mechanical model. Thus, the obtained position, speed and torque command of the motor are defined as the feed forward commands. |
